The incident occurred on Sirohi-Shivganj road when the SUV was on its way to Mount Abu, police said, adding that the passengers hail from Chittorgarh.
The deceased were identified as truck driver Goru Banjara , its cleaner Shankar, passengers Kamla Bai, Sangeeta and Gheesi Bai and an unidentified person.
The condition of the injured is said to be stable.